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nav client compiles
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‎src/viam/sdk/services/private/navigation_client.cpp‎

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#include <viam/sdk/services/private/navigation_client.hpp>
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#include <math.h>
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#include <grpcpp/support/status.h>
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#include <viam/api/service/navigation/v1/navigation.grpc.pb.h>
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#include <viam/api/service/navigation/v1/navigation.pb.h>
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#include <viam/sdk/common/client_helper.hpp>
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#include <viam/sdk/common/proto_value.hpp>
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#include <viam/sdk/common/utils.hpp>
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#include <viam/sdk/services/navigation.hpp>
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namespace viam {
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namespace sdk {
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namespace impl {
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using namespace viam::service::navigation::v1;
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NavigationClient::NavigationClient(std::string name, std::shared_ptr<grpc::Channel> channel)
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: Navigation(std::move(name)),
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stub_(service::navigation::v1::NavigationService::NewStub(channel)),
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channel_(std::move(channel)) {};
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Navigation::Mode NavigationClient::get_mode(const std::string name, const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::GetMode)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) { return Navigation::Mode(response.mode()); });
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}
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void NavigationClient::set_mode(const std::string name,
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const Navigation::Mode mode,
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const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::SetMode)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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request.set_mode(viam::service::navigation::v1::Mode(mode));
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {});
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}
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Navigation::LocationResponse NavigationClient::get_location(const std::string name,
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const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::GetLocation)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {
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return Navigation::LocationResponse{
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response.location(),
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response.compass_heading(),
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};
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});
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}
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// helper; unpacks a repeated pointer to a vector of destination type.
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// Dst must have a constructor that takes Src*.
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template <typename Src, typename Dst>
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std::unique_ptr<std::vector<Dst>> repeatedPtrToVector(
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const ::google::protobuf::RepeatedPtrField<Src>& items) {
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auto vec = std::make_unique<std::vector<Dst>>();
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vec->reserve(items.size());
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for (auto& x : items) {
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vec->push_back(x);
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}
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return vec;
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}
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std::unique_ptr<std::vector<Navigation::Waypoint>> NavigationClient::get_waypoints(
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const std::string name, const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::GetWaypoints)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {
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return repeatedPtrToVector<viam::service::navigation::v1::Waypoint,
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Navigation::Waypoint>(response.waypoints());
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});
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}
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void NavigationClient::add_waypoint(const std::string name,
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const GeoPoint& location,
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const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::AddWaypoint)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_location() = location;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {});
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}
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void NavigationClient::remove_waypoint(const std::string name,
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const std::string id,
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const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::RemoveWaypoint)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_id() = id;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {});
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}
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std::unique_ptr<std::vector<GeoGeometry>> NavigationClient::get_obstacles(
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const std::string name, const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::GetObstacles)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {
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return std::make_unique<std::vector<GeoGeometry>>(response.obstacles().begin(),
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response.obstacles().end());
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});
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}
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std::unique_ptr<std::vector<NavigationClient::Path>> NavigationClient::get_paths(
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const std::string name, const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::GetPaths)
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.with([&](auto& request) {
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*request.mutable_name() = name;
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*request.mutable_extra() = map_to_struct(extra);
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})
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.invoke([](auto& response) {
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return std::make_unique<std::vector<Path>>(response.paths().begin(),
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response.paths().end());
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});
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}
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NavigationClient::MapType NavigationClient::get_properties(const std::string name) {
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return make_client_helper(this, *stub_, &StubType::GetProperties)
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.with([&](auto& request) { *request.mutable_name() = name; })
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.invoke([](auto& response) { return MapType(response.map_type()); });
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}
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ProtoStruct NavigationClient::do_command(const ProtoStruct& command) {
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return make_client_helper(this, *stub_, &StubType::DoCommand)
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.with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
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.invoke([](auto& response) { return struct_to_map(response.result()); });
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}
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} // namespace impl
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} // namespace sdk
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} // namespace viam

‎src/viam/sdk/services/private/navigation_client.hpp‎

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/// @file services/navigation/client.hpp
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///
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/// @brief Implements a gRPC client for the `Navigation` service.
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#pragma once
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#include <grpcpp/channel.h>
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#include <viam/api/service/navigation/v1/navigation.grpc.pb.h>
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#include <viam/sdk/services/navigation.hpp>
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namespace viam {
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namespace sdk {
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namespace impl {
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/// @class NavigationClient
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/// @brief gRPC client implementation of a `Navigation` service.
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/// @ingroup Navigation
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class NavigationClient : public Navigation {
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public:
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using interface_type = Navigation;
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NavigationClient(std::string name, std::shared_ptr<grpc::Channel> channel);
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Mode get_mode(const std::string name, const ProtoStruct& extra) override;
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void set_mode(const std::string name, const Mode mode, const ProtoStruct& extra) override;
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LocationResponse get_location(const std::string name, const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<Waypoint>> get_waypoints(const std::string name, const ProtoStruct& extra) override;
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void add_waypoint(const std::string name,
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const GeoPoint& location,
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const ProtoStruct& extra) override;
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void remove_waypoint(const std::string name,
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const std::string id,
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const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<GeoGeometry>> get_obstacles(const std::string name,
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const ProtoStruct& extra) override;
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std::unique_ptr<std::vector<Path>> get_paths(const std::string name, const ProtoStruct& extra) override;
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MapType get_properties(const std::string name) override;
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ProtoStruct do_command(const ProtoStruct& command) override;
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private:
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using StubType = service::navigation::v1::NavigationService::StubInterface;
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std::unique_ptr<StubType> stub_;
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std::shared_ptr<grpc::Channel> channel_;
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};
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} // namespace impl
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} // namespace sdk
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} // namespace viam

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